Modeling and FES control of human movement with threshold control theory.
Date of Issue2011
School of Electrical and Electronic Engineering
Our study aims to build a physiology-based control model of the human motor system. In the perspective of control engineering, an ideal controller is expected to drive the complex motor system without solving the “inverse dynamics problem”. Thus many researchers have suggested that the threshold control theory might be a good candidate to build such a controller. However, the physiological relevance of threshold control theory is still under debate. So we first validate the threshold control theory by simulation and experimental studies. A subject-specific musculoskeletal model is developed to conduct simulation study. To ensure the credibility of the simulation, the parameters are measured in vivo with ultrasonography. The results of simulations and experiments are compared. The comparisons suggest that the controller based on threshold control theory can ideally drive the physiology-based musculoskeletal system to 1) realize desired movements with different feedback delays; 2) generate the muscle stimulation/excitation; 3) reproduce corresponding muscle activation patterns.
DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation